조향형 무인반송차의 동적 매개변수 추정과 미끄러짐이 없는 궤적 생성Dynamci System Parameter Estimation and Trajectory Generation with No Slip for Steered Wheel Type AGV

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To improve dynamic behaviour of the current steered wheel type AGVs an accurate modeling of system parameters and optimal trajectory generation have been achieved. The system parameters such as a mass moment of inertia and mass center position are estimated using only driving motor torque on a real time. with the obtained system parameter a velocity trajectory which is capable of no slip motion is generated. Simulation demonstrates that a positioning error using this velocity trajectory is much decreased.
Publisher
한국자동차공학회
Issue Date
1994
Language
KOR
Citation

한국자동차공학회 추계학술대회, pp.376 - 383

URI
http://hdl.handle.net/10203/114741
Appears in Collection
ME-Conference Papers(학술회의논문)ME-Conference Papers(학술회의논문)
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